TOWARDS THE DESIGN OF KRESLING TOWER ORIGAMI AS A COMPLIANT BUILDING BLOCK

In this paper, the use of the Kresling tower origami as a building block for compliant mechanism design is considered. Design tools to help building systems using this origami are introduced. First, a model which can describe the tower kinematics during its deployment is introduced. This model is exploited to link the origami pattern geometry to the main Kresling tower characteristics which include the position of stable configurations, the helical motion and the configuration of panels during the tower deployment. Second, a local modification of fold geometry is introduced to adjust the tower stiffness. This aims at modifying the actuation force without affecting the kinematics and consists in the removal of material on the fold line where constraints are concentrated during the folding. Experimental evaluation is conducted to verify the relevance of the proposed models and the impact of fold line modification. As a result, the design relationships derived from the model are precise enough for the synthesis, with a global relative mean error around 0.8% for the prediction of the helical motion, and 3.1% for the assessment of stable configurations. The capacity to significantly modify the actuation force thanks to the fold line modification is also observed with a reduction of about 73% of the maximal force to switch between two stable configurations.

Experimental investigation of the dynamics of a slider-crank mechanism with local linear force input

Conventional implementation of slider-crank mechanisms result in high loads transmitted through the mechanical structure, inhibiting the design of compact and oil-free machines. Therefore, this research proposes to step away from the conventional, i.e. rotative, actuation and to investigate local linear actuation on the slider-component directly, while maintaining the kinematic link of the slider-crank configuration. In this work the local linear actuating principle is evaluated experimentally where the goal is to obtain a continuous movement of the slider mechanism where Top Dead Centre & Bottom Dead Centre are reached and to minimise the loads transmitted through the mechanical structure. The non-isochronous transient behaviour of a slider-crank mechanism loaded with a spring-damper element is detailed as well as the optimal working conditions at steady state to achieve a reduced loading of the kinematic structure. By matching the operating frequency and resonance frequency of the system, a reduction of the loads transmitted through the system by 63% of the nominal spring load can be achieved. Further experimental (and multibody mechanical) investigation on the influence of flywheel exposes a clear trade-off between the sensitivity of the system and the transmission of the actuation force through the kinematic link.

Micro-Range Actuation by Pressure-Induced Elastic Deformation of 316L Steel Membranes Produced by Laser Powder Bed Fusion

In this paper, fundamental research is performed on membrane type actuators made out of 316L stainless steel, manufactured with Laser powder bed fusion (LPBF). A total of six membranes with membrane thicknesses ranging from 0.6 mm up to 1.2 mm were scanned using a high precision metrology system to measure the membrane for displacement at different actuating pressures. The membranes were furthermore investigated for roughness, porosity and thickness. This showed that the thinnest membranes skewed in the print direction when actuated. The remaining membranes achieved higher specific displacements than finite element simulations (FES) predicted, due to surface roughness and porosity. Membrane type actuators can be used for precise actuation within the micrometre range. LPBF allows the creation of internal pockets and membranes in a single metal piece. In opposition to the more commonly used polymers for membrane-type actuators, LPBF steel printed parts offer high stiffness and actuation force. However, due to limitations of the LPBF process on thin walls, large deviations from FES occur. In this paper, a CAD and FES compensation strategy is suggested, which makes future, more complex and effective, designs possible.

An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation

This paper presents a novel mechatronic exoskeleton architecture for finger rehabilitation. The system consists of an underactuated kinematic structure that enables the exoskeleton to act as an adaptive finger stimulator. The exoskeleton has sensors for motion detection and control. The proposed architecture offers three main advantages. First, the exoskeleton enables accurate quantification of subject-specific finger dynamics. The configuration of the exoskeleton can be fully reconstructed using measurements from three angular position sensors placed on the kinematic structure. In addition, the actuation force acting on the exoskeleton is recorded. Thus, the range of motion (ROM) and the force and torque trajectories of each finger joint can be determined. Second, the adaptive kinematic structure allows the patient to perform various functional tasks. The force control of the exoskeleton acts like a safeguard and limits the maximum possible joint torques during finger movement. Last, the system is compact, lightweight and does not require extensive peripherals. Due to its safety features, it is easy to use in the home. Applicability was tested in three healthy subjects.

A 3D-Printable Robotic Gripper Based on Thick Panel Origami

Origami has been a source of inspiration for the design of robots because it can be easily produced using 2D materials and its motions can be well quantified. However, most applications to date have utilised origami patterns for thin sheet materials with a negligible thickness. If the thickness of the material cannot be neglected, commonly known as the thick panel origami, the creases need to be redesigned. One approach is to place creases either on top or bottom surfaces of a sheet of finite thickness. As a result, spherical linkages in the zero-thickness origami are replaced by spatial linkages in the thick panel one, leading to a reduction in the overall degrees of freedom (DOFs). For instance, a waterbomb pattern for a zero-thickness sheet shows multiple DOFs while its thick panel counterpart has only one DOF, which significantly reduces the complexity of motion control. In this article, we present a robotic gripper derived from a unit that is based on the thick panel six-crease waterbomb origami. Four such units complete the gripper. Kinematically, each unit is a plane-symmetric Bricard linkage, and the gripper can be modelled as an assembly of Bricard linkages, giving it single mobility. A gripper prototype was made using 3D printing technology, and its motion was controlled by a set of tendons tied to a single motor. Detailed kinematic modelling was done, and experiments were carried out to characterise the gripper’s behaviours. The positions of the tips on the gripper, the actuation force on tendons, and the grasping force generated on objects were analysed and measured. The experimental results matched well with the analytical ones, and the repeated tests demonstrate that the concept is viable. Furthermore, we observed that the gripper was also capable of grasping non-symmetrical objects, and such performance is discussed in detail in the paper.

Effect of Matching Buckling Loads on Post-Buckling Behavior in Compliant Mechanisms

In this paper, a novel method for stiffness compensation in compliant mechanisms is investigated. This method involves tuning the ratio between the first two critical buckling loads. To this end, the relative length and width of flexures in two architectures, a stepped beam and parallel guidance, are adjusted. Using finite element analysis, it is shown that by maximizing this ratio, the actuation force for transversal deflection in post-buckling is reduced. These results were validated experimentally by identifying the optimal designs in a given space and capturing the force-deflection characteristics of these mechanisms.

Strengthening Mechanism of Electrothermal Actuation in the Epoxy Composite with an Embedded Carbon Nanotube Nanopaper

We assessed an effect of an embedded electro-conductive multiwalled carbon nanotube nanopaper in an epoxy matrix on the release of the frozen actuation force and the actuation torque in the carbon nanotube nanopaper/epoxy composite after heating above its glass transition temperature. The presence of the nanopaper augmented the recovery of the actuation stress by the factor of two in comparison with the pure epoxy strips. We proposed a procedure that allowed us to assess this composite strengthening mechanism. The strengthening of the composite was attributed to the interlocking of the carbon nanotubes with the epoxy. When reheated, the composite samples, which contained stretched mutually intertwined nanotubes and epoxy segments, released a greater actuation stress then the epoxy samples, which comprised of less elastic networks of crosslinked segments of pure epoxy.

Position and force self-sensing piezoelectric valve with hysteresis compensation

This paper presents an approach for self-sensing piezoelectric valves. Both displacement and actuation force of piezoelectric valve can be simultaneously estimated from measurements of the charge and driving voltage. Only simple calibration is required before engineering application. The charge is obtained by software integration of the piezoelectric current sampled by DAQ card, which has the advantage of compensating leakage current by pre-estimating the leakage resistance. A PID controller is used to track the displacement, and a feedfoward compensation using Prandtl–Ishlinskii model is taken to compensate the piezoelectric hysteresis. The experimental results show that the controller can track target displacement within 2.03% of error, track force within 1.80% of error, and the maximum hysteresis of actuator is compensated from 27% to 3.75%.

A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix

This paper proposes a novel performance index, which is called static actuation force sensitivity (SAFS), to investigate the response of the actuation forces when the amplitude of the suffered load of the end-effector has a change. Smaller SAFS can protect the actuations, and the load is mainly suffered by the structural constraints. This work starts with the construction of the unified forward Jacobian matrix of both serial and parallel mechanisms by screw theory. Then, with the forward Jacobian matrix, the inverse static equation is established. SAFS is thus introduced by the “partial differential” operation on the inverse static equation. SAFS is only related to the position of the whole mechanism and the direction of the suffered load, but not related to the detailed value of the amplitude of the load and the detailed value of the actuation forces; thus, SAFS can reveal the essence of static force capacities of the mechanisms. The example mechanism (namely, the 3revolute-prismatic-spherical (RPS) parallel mechanism) is used to illustrate the distribution of SAFS both over the workspace and at a certain pose. The analysis method of SAFS and the proposed index are expected to be applied to the pose optimization in the motion planning of the mechanisms to protect the actuations.